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CS 470 Project Final Presentation

CS 470 Project Final Presentation. Dmitry Korobov April 13, 2009. Overview. GUI interface for the robot Atomic Actions Panel Script generator for complex actions Sensors Panel Robot’s module. IntelliBrain ™ 2 Robotics Controller. 14.7 MHz Atmel ATmega128 CPU 132K RAM 128K Flash

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CS 470 Project Final Presentation

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  1. CS 470 ProjectFinal Presentation Dmitry Korobov April 13, 2009

  2. Overview • GUI interface for the robot • Atomic Actions Panel • Script generator for complex actions • Sensors Panel • Robot’s module

  3. IntelliBrain™ 2 Robotics Controller • 14.7 MHz Atmel ATmega128 CPU • 132K RAM • 128K Flash • 16x2 LCD Display • Buzzer • Infrared range sensor • Sonar • Camera • Bluetooth or 115.2K RS232 comm ports

  4. Software • RoboJDE™Java™ robotics development environment • Netbeans • HyperTerminal

  5. Robot’s Module • 14 classes running as separate threads • 1 main thread with pointers to other objects • Classes represent hardware elementsas state machines that are modified by the main thread

  6. Robot’s GUI

  7. Communication • Serial connection over bluetooth @ 115200 • 7 byte commands with 18 bytes of data • Syntax: r ii 0 t 0 0 d 0 0 0 0 0 0 0 0 … ‘\r’ • Commands are buffered in a resizable queue

  8. Script Interpretation Example if camera center color == green move forward end if if light 2 ≤ 10 move stop end if

  9. Script Interpretation Example if camera center color == green SEND: c o i 0 t 0 0 d ‘\r’ SEND: c ci 0 t 0 0 d ‘\r’ RECEIVE: c ci 0 t 0 0 d 128 0 0 ‘\r’ move forward SEND: m f i 0 t 0 0 d ‘\r’ end if if light 2 ≤ 10 SEND: r ii 0 t 0 0 d ‘\r’ SEND: r ii 1 t 0 0 d ‘\r’ RECEIVE: r ii 0 t 0 0 d 9 . 7 E 0 ‘\r’ RECEIVE: r ii 1 t 0 0 d 9 . 9 E 0 ‘\r’ move stop SEND: m s i 0 t 0 0 d ‘\r’ end if

  10. Schedule

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